pid_controller.h

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#pragma once

#include "modules/control/proto/pid_conf.pb.h"

namespace apollo {
namespace control {

class PIDController {
 public:
  void Init(const PidConf &pid_conf);

  void SetPID(const PidConf &pid_conf);

  void Reset();

  virtual double Control(const double error, const double dt);

  virtual ~PIDController() = default;

  int IntegratorSaturationStatus() const;

  bool IntegratorHold() const;

  void SetIntegratorHold(bool hold);

 protected:
  double kp_ = 0.0;
  double ki_ = 0.0;
  double kd_ = 0.0;
  double kaw_ = 0.0;
  double previous_error_ = 0.0;
  double previous_output_ = 0.0;
  double integral_ = 0.0;
  double integrator_saturation_high_ = 0.0;
  double integrator_saturation_low_ = 0.0;
  bool first_hit_ = false;
  bool integrator_enabled_ = false;
  bool integrator_hold_ = false;
  int integrator_saturation_status_ = 0;
  // Only used for pid_BC_controller and pid_IC_controller
  double output_saturation_high_ = 0.0;
  double output_saturation_low_ = 0.0;
  int output_saturation_status_ = 0;
};

}  // namespace control
}  // namespace apollo